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COVERAGE PATH PLANNING AND CONTROL FOR AUTONOMOUS MOBILE ROBOTS

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Date Issued:
2005
Abstract/Description:
Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the sequences of points are determined a smooth trajectory characterized by fifth order polynomial having second order continuity is generated. And the slope of the curve at each point is calculated from which the control inputs are generated analytically. Optimal trajectory is generated using a method given in research literature and a qualitative analysis of the smooth trajectory is done. Cooperative sweeping of multirobots is achieved by dividing the area to be covered into smaller areas depending on the number of robots. Once the area is divided into sub areas, each robot is assigned a sub area for cooperative sweeping.
Title: COVERAGE PATH PLANNING AND CONTROL FOR AUTONOMOUS MOBILE ROBOTS .
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Name(s): balakrishnan, mohanakrishnan, Author
Guo, Yi , Committee Chair
University of Central Florida, Degree Grantor
Type of Resource: text
Date Issued: 2005
Publisher: University of Central Florida
Language(s): English
Abstract/Description: Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the sequences of points are determined a smooth trajectory characterized by fifth order polynomial having second order continuity is generated. And the slope of the curve at each point is calculated from which the control inputs are generated analytically. Optimal trajectory is generated using a method given in research literature and a qualitative analysis of the smooth trajectory is done. Cooperative sweeping of multirobots is achieved by dividing the area to be covered into smaller areas depending on the number of robots. Once the area is divided into sub areas, each robot is assigned a sub area for cooperative sweeping.
Identifier: CFE0000641 (IID), ucf:46497 (fedora)
Note(s): 2005-08-01
M.S.
Engineering and Computer Science, Department of Electrical and Computer Engineering
Masters
This record was generated from author submitted information.
Subject(s): robot
nonholonomic
complete coverage
control
Persistent Link to This Record: http://purl.flvc.org/ucf/fd/CFE0000641
Restrictions on Access: public
Host Institution: UCF

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